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Multi-stage Optimal Control Problem Formulation for Drone Racing through Gates and Tunnels
Book Contribution - Book Chapter Conference Contribution
Finding a time-optimal trajectory through gates and
tunnels is a difficult challenge in autonomous drone racing,
especially in a fully autonomous context where the computations
are all performed onboard. This paper presents an optimal
control problem formulation to represent and solve the motion
planning problem for a multirotor drone racing through a series
of gates or tunnels, without a priori knowledge about the drone
pose right in front of or behind the gates nor about the exact
time instance when to pass through the gates. The formulation
is shown to produce feasible trajectories for a set of handcrafted
configurations, and has the potential to be fast enough for online
replanning purposes.
Book: 2022 IEEE 17th International Conference on Advanced Motion Control (AMC)
Pages: 376 - 382
ISBN:978-1-7281-7711-3
Publication year:2022
Accessibility:Open